Humanoid collision issue (Experimental Physics Solver)

Bug Reports
1

I wanted to port Giant Survival (A game of mine) into the new experimental solver, but I came across a major issue.
The legs of the giant would clip through the floor 2% of the time with the outdated physics, but would 100% of the time with the new physics.
Here is 2 picture demonstrating this issue (both with the new physics)

I’m sure this has to do with the humanoid, correct?

2

I’m pretty sure humanoids/characters are controlled by invisible body objects, like how gyros make you flip over and stand up and keep you from falling over, but don’t work in the new physics solver and get upset and kill you. This would be another problem relating to them.